mirror of
https://github.com/blendogames/quadrilateralcowboy.git
synced 2024-11-25 21:41:55 +00:00
77 lines
3 KiB
C++
77 lines
3 KiB
C++
/*
|
|
===========================================================================
|
|
|
|
Doom 3 GPL Source Code
|
|
Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
|
|
|
|
This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
|
|
|
|
Doom 3 Source Code is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Doom 3 Source Code is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
|
|
|
|
If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
|
|
|
|
===========================================================================
|
|
*/
|
|
|
|
#ifndef __MATH_LCP_H__
|
|
#define __MATH_LCP_H__
|
|
|
|
/*
|
|
===============================================================================
|
|
|
|
Box Constrained Mixed Linear Complementarity Problem solver
|
|
|
|
A is a matrix of dimension n*n and x, b, lo, hi are vectors of dimension n
|
|
|
|
Solve: Ax = b + t, where t is a vector of dimension n, with
|
|
complementarity condition: (x[i] - lo[i]) * (x[i] - hi[i]) * t[i] = 0
|
|
such that for each 0 <= i < n one of the following holds:
|
|
|
|
1. lo[i] < x[i] < hi[i], t[i] == 0
|
|
2. x[i] == lo[i], t[i] >= 0
|
|
3. x[i] == hi[i], t[i] <= 0
|
|
|
|
Partly bounded or unbounded variables can have lo[i] and/or hi[i]
|
|
set to negative/positive idMath::INFITITY respectively.
|
|
|
|
If boxIndex != NULL and boxIndex[i] != -1 then
|
|
|
|
lo[i] = - fabs( lo[i] * x[boxIndex[i]] )
|
|
hi[i] = fabs( hi[i] * x[boxIndex[i]] )
|
|
boxIndex[boxIndex[i]] must be -1
|
|
|
|
Before calculating any of the bounded x[i] with boxIndex[i] != -1 the
|
|
solver calculates all unbounded x[i] and all x[i] with boxIndex[i] == -1.
|
|
|
|
===============================================================================
|
|
*/
|
|
|
|
class idLCP {
|
|
public:
|
|
static idLCP * AllocSquare( void ); // A must be a square matrix
|
|
static idLCP * AllocSymmetric( void ); // A must be a symmetric matrix
|
|
|
|
virtual ~idLCP( void );
|
|
|
|
virtual bool Solve( const idMatX &A, idVecX &x, const idVecX &b, const idVecX &lo, const idVecX &hi, const int *boxIndex = NULL ) = 0;
|
|
virtual void SetMaxIterations( int max );
|
|
virtual int GetMaxIterations( void );
|
|
|
|
protected:
|
|
int maxIterations;
|
|
};
|
|
|
|
#endif /* !__MATH_LCP_H__ */
|